Graph Structure-Based Simultaneous Localization and Mapping Using a Hybrid Method of 2D Laser Scan and Monocular Camera Image in Environments with Laser Scan Ambiguity

Graph Structure-Based Simultaneous Localization and Mapping Using a Hybrid Method of 2D Laser Scan and Monocular Camera Image in Environments with Laser Scan Ambiguity

Localization is an essential issue for robot navigation, allowing the robot to perform tasks autonomously. However, in environments with laser scan ambiguity, such as long corridors, the conventional SLAM (simultaneous localization and mapping) algorithms exploiting a laser scanner may not estimate...

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Bibliographic Details
Main Authors: Taekjun Oh, Donghwa Lee, Hyungjin Kim, Hyun Myung
Format: Article
Language:English
Published: MDPI AG 2015-07-01
Series:Sensors
Subjects:
laser scan ambiguity
graph-based SLAM
intrinsic and extrinsic camera calibration
hybrid method
Online Access:http://www.mdpi.com/1424-8220/15/7/15830

Internet

http://www.mdpi.com/1424-8220/15/7/15830

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